VARIABLE SPECTRAL ELEMENT

Abstract

 In the variable spectroscopic element, the first sensor 3₁ and the third sensor 3₃ are arranged at positions that form symmetry with respect to the axis that links gravity centers of mutually facing surfaces of the pair of optical substrates 2, and so are the second sensor 3₂ and the fourth sensor 3₄; the first to fourth piezoelectric elements 4₁ to 4₄ are arranged, respectively, on lines that extend from the gravity centers of the mutually facing surfaces of the pair of optical substrates 2 toward respective centers of the first to fourth sensors 3₁ to 3₄; and a control section is provided to calculate, from signals by the first to fourth sensors 3₁ to 3₄, a distance x between the gravity centers of the mutually facing surfaces of the pair of optical substrates, to calculate, from a signal by the first sensor 3₁ and a signal by the third sensor 3₃, a first angle θ formed by a plane perpendicular to the line that links the gravity centers and one of the mutually facing surfaces of moving one of the optical substrates, to calculate, from a signal by the second sensor 3₂ and a signal by the fourth sensor 3₄, a second angle φ formed by a plane perpendicular to the line that links the gravity centers and the one of the mutually facing surface of the moving one of the optical substrates, to drive the first to fourth piezoelectric elements 4₁ to 4₄ on the basis of the distance x, the angle θ and the angle φ, and to carry out feedback control and feed forward control with respect to at least one of the distance x, the angle θ and the angle φ.

Description

TECHNICAL FIELD

[0001] The present invention relates to a variable spectroscopic element.

BACKGROUND ART

[0002] There has been known a variable spectroscopic element provided with an etalon device and a control section (See JP KOKAI No. 2008-1291, for example), in which a pair of optical substrates are arranged to face each other with a spacing between and at least one of the optical substrates is made movable by use of actuators such as piezoelectric elements, so that the optical property is changeable by change of intersurface distance between the optical substrates or between reflecting films formed on the optical substrates (hereafter, generally referred to as "intersurface distance between optical substrates").

[0003] Of such a variable spectroscopic element, there has been known a type (for example, JP KOKAI No. Hei 6-241899) in which, for the purpose of setting the intersurface distance between optical substrates to have a desired value, capacitive sensors for measuring the intersurface distance are arranged on the mutually facing surfaces to measure the instant intersurface distance at a predetermined sampling interval, comparison is made between the intersurface distance as measured and a desired intersurface distance, and the intersurface distance is adjusted by actuating actuators based on the comparison result.

[0004] In a case where the optical property is required to be changed continuously and at high speed, as in an application to a spectral imaging endoscope apparatus which conducts image acquisition while continuously changing the spectral characteristic, the variable spectroscopic element as recited in JP KOKAI No. 2008-129149 or JP KOKAI No. Hei 6-241899 is required to change the intersurface distance between optical substrates upon controlling actuators within a single frame of the sampling interval for image acquisition, which is an extremely brief time.

[0005] Since the optical property of the variable spectroscopic element as recited in Documents 1 or 2 is greatly affected by parallelism between mutually facing surfaces of a pair of optical substrates or between reflective films formed of the surfaces, control of the actuators has to be accurate.

[0006] However, in a case where the intersurface distance and the parallelism between the mutually facing surfaces of the optical substrates are to be controlled on the basis of output values from four capacitive sensors, four actuators should be controlled upon their mutual disturbance being taken into account. Since such an arithmetic processing is complicate, the control takes much time and thus there is raised a problem that the optical property cannot be changed at high speed.

[0007] The present invention has been made upon taking into consideration such a problem of the conventional art and its object is to provide a variable spectroscopic element that can change its optical property accurately and at high speed.

[0008] In order to attain the above-mentioned object, the variable spectroscopic element according to the present invention includes a pair of optical substrates arranged to face each other with a space between, first to fourth capacitive sensors each of which has a pair of electrodes arranged on mutually facing surfaces of the pair of optical substrates for detecting an intersurface distance between the mutually facing surfaces of the pair of optical substrates at each position where the pair of electrodes are arranged, and first to fourth actuators that move at least one of the pair of optical substrates relative to the other optical substrate for changing intersurface distances between the mutually facing surfaces of the pair of optical substrates, wherein the first capacitive sensor and the third capacitive sensor are arranged at positions that form symmetry with respect to an axis determined by a line that links respective gravity centers of the mutually facing surfaces of the pair of optical substrates; the second capacitive sensor and the fourth capacitive sensor are arranged at positions that form symmetry with respect to the axis determined by the line that links the respective gravity centers of the mutually facing surfaces of the pair of optical substrates; the first to fourth actuators are arranged, respectively, on lines that extend from the gravity centers of the mutually facing surfaces of the pair of optical substrates toward respective centers of the first to fourth capacitive sensors; and the variable spectroscopic element is provided with a control section that calculates, from signals by the first to fourth capacitive sensors, a distance between the respective gravity centers of the mutually facing surfaces of the pair of optical substrates, calculates, from a signal by the first capacitive sensor and a signal by the third capacitive sensor, a first angle formed by a plane perpendicular to the line that links the respective gravity centers and one of the mutually facing surfaces of moving one of the optical substrates, calculates, from a signal by the second capacitive sensor and a signal by the fourth capacitive sensor, a second angle formed by a plane perpendicular to the line that links the respective gravity centers and the one of the mutually facing surface of the moving one of the optical substrates, drives the first actuator and the third actuator on the basis of the distance between the gravity centers and the first angle, drives the second actuator and the third actuator on the basis of the distance between the gravity centers and the second angle, carries out a feedback control with respect to the distance between the gravity centers, the first angle and the second angle, and carries out a feed forward control with respect to at least one of the distance between the gravity centers, the first angle and the second angle.

[0009] In the variable spectroscopic element of the present invention, it is preferred that the feedback control is PID control and that the feed forward control is such that a sum of: a derivative by second-order differentiation of an input value; a quotient, as divided by a mass of a displaceable portion of the variable spectroscopic element, of a product, as multiplied by a damping constant of the actuators, of a derivative by differentiation of the input value; and a quotient, as divided by the mass of the displaceable portion of the variable spectroscopic element, of a product, as multiplied by a spring constant of the actuators, of the input value; is divided by a quotient, as divided by the mass of the displaceable portion of the variable spectroscopic element, of the spring constant of the actuators, to yield a resulted value as an output value. To be specific, the feedback control is a PID control and the feed forward control is such that the following output value is outputted in response to an input value u:


where A = 4k/m (k is a spring constant of the actuators and m is a mass of the displaceable portion of the variable spectroscopic element), B = 4c/m (c is a constant acquired from damping of vibration of the displaceable portion of the variable spectroscopic element when signals are inputted with the spring constant of the actuators being k and the mass of the displaceable portion of the variable spectroscopic element being m), and C = 4k/m.

[0010] In order to attain the above-mentioned object, the variable spectroscopic element of the present invention includes a pair of optical substrates arranged to face each other with a space between, first to fourth capacitive sensors each of which has a pair of electrodes arranged on mutually facing surfaces of the pair of optical substrates for detecting an intersurface distance between the mutually facing surfaces of the pair of optical substrates at each position where the pair of electrodes are arranged, and first to fourth actuators that move at least one of the pair of optical substrates relative to the other optical substrate for changing intersurface distances between the mutually facing surfaces of the pair of optical substrates, wherein the first capacitive sensor and the third capacitive sensor are arranged at positions that form symmetry with respect to an axis determined by a line that links respective gravity centers of the mutually facing surfaces of the pair of optical substrates; the second capacitive sensor and the fourth capacitive sensor are arranged at positions that form symmetry with respect to the axis determined by the line that links the respective gravity centers of the mutually facing surfaces of the pair of optical substrates; the first to fourth capacitive sensors and the first to fourth actuators are alternately arranged at equiangular intervals with respect to the axis determined by the line that links respective gravity centers of the mutually facing surfaces of the pair of optical substrates, as viewed from the direction along the axis; and the variable spectroscopic element is provided with a control section that calculates, from signals by the first to fourth capacitive sensors, a distance between the respective gravity centers of the mutually facing surfaces of the pair of optical substrates, calculates, using values of intersurface distances between the mutually facing surfaces of the pair of optical substrates at positions where the first and third actuators are arranged, which are acquired from signals by the first to fourth capacitive sensors, a first angle formed by a plane perpendicular to the line that links the respective gravity centers and one of the mutually facing surfaces of moving one of the optical substrates, calculates, using values of interface distances between the mutually facing surfaces of the pair of optical substrates at positions where the second and fourth actuators are arranged, which are acquired from signals by the first to fourth capacitive sensors, a second angle formed by a plane perpendicular to the line that links the respective gravity centers and the one of the mutually facing surface of the moving one of the optical substrates, drives the first to fourth actuators on the basis of the distance between the gravity centers, the first angle and the second angle, carries out a feedback control with respect to the distance between the gravity centers, the first angle and the second angle, and carries out a feed forward control with respect to at least one of the distance between the gravity centers, the first angle and the second angle.

[0011] The present invention can provide a variable spectroscopic element that can change its optical property accurately and at high speed.

BRIEF DESCRIPTION OF THE DRAWINGS

[0012] 

[FIG. 1] FIG. 1 is a sectional view that shows an etalon device of a variable spectroscopic element according to Embodiment 1.

[FIG. 2] FIG. 2 is a plan view of the etalon device of FIG. 1.

[FIG. 3] FIG. 3 is a schematic diagram that shows behavior of a pair of optical substrates and four piezoelectric elements of the etalon device of FIG. 1.

[FIG. 4] FIG. 4 is a block diagram that shows a control circuit of the variable spectroscopic element according to Embodiment 1.

[FIG. 5] FIG. 5 is a block diagram that shows calculations executed by a control section of the variable spectroscopic element according to Embodiment 1.

[FIGs. 6] FIGs. 6 are graphs that show response characteristics of the etalon device shown in FIG. 1, where FIG. 6A is a graph of the case where control is implemented by a conventional variable spectroscopic element, and FIG. 6B is a graph of the case where control is implemented by the variable spectroscopic element of Embodiment 1.

[FIGs. 7] FIGs. 7 are graphs that show response characteristics of the etalon device shown in FIG. 1, where FIG. 7A is a graph of the case where only feedback control is implemented, and FIG. 7B is a graph of the case where feedback control and feed forward control are implemented.

[FIG. 8] FIG. 8 is a plan view that shows a first modification example of the etalon device of FIG. 1.

[FIG. 9] FIG. 9 is a plan view that shows a second modification example of the etalon device of FIG. 1.

[FIG. 10] FIG. 10 is a plan view that shows a third modification example of the etalon device of FIG. 1.

[FIG. 11] FIG. 11 is a sectional view that shows a fourth modification example of the etalon device of FIG. 1.

[FIG. 12] FIG. 12 is a sectional view that shows an etalon device of a variable spectroscopic element according to Embodiment 2.

[FIG. 13] FIG. 13 is a plan view of the etalon device of FIG. 12.

THE BEST MODE FOR CARRYING OUT THE INVENTION

[0013] The embodiments of the present invention will be explained in detail below in reference to the drawings.

Embodiment 1

[0014] The first embodiment of the variable spectroscopic element according to the present invention will be explained in reference to FIG.1 to FIGs. 7, and then four modification examples will be explained in reference to FIG. 8 to FIG. 11.

[0015] FIG. 1 is a sectional view that shows an etalon device of a variable spectroscopic element according to this embodiment. FIG. 2 is a plan view of the etalon device of FIG. 1. FIG. 3 is a schematic diagram that shows behavior of a pair of optical substrates and four piezoelectric elements of the etalon device of FIG. 1. FIG. 4 is a block diagram that shows a control circuit of the variable spectroscopic element according to this embodiment. FIG. 5 is a block diagram that shows calculations executed by a control section of the variable spectroscopic element according to this embodiment. FIGs. 6 are graphs that show response characteristics of the etalon device shown in FIG. 1, where FIG. 6A is a graph of the case where control is implemented by a conventional variable spectroscopic element, and FIG. 6B is a graph of the case where control is implemented by the variable spectroscopic element of this embodiment. FIGs. 7 are graphs that show response characteristics of the etalon device shown in FIG. 1, where FIG. 7A is a graph of the case where only feedback control is implemented, and FIG. 7B is a graph of the case where feedback control and feed forward control are implemented. FIG. 8 is a plan view that shows a first modification example of the etalon device of FIG. 1. FIG. 9 is a plan view that shows a second modification example of the etalon device of FIG. 1. FIG. 10 is a plan view that shows a third modification example of the etalon device of FIG. 1. FIG. 11 is a sectional view that shows a fourth modification example of the etalon device of FIG. 1.

[0016] The variable spectroscopic element according to the present invention is constructed of an etalon device shown in FIG. 1 and FIG. 2 and a control section not shown.

[0017] First, in reference to FIG. 1 and FIG. 2, an explanation will be made on the etalon device of this variable spectroscopic element.

[0018] As shown in FIG. 1 and FIG. 2, this etalon device is provided with, inside an outer frame 1, a pair of optical substrates 2, capacitive sensors, which are means for measuring intersurface distances between two mutually facing surfaces of the pair of optical substrates 2, and piezoelectric elements, which are actuators for moving one of the pair of optical substrates 2 under a control by a control section not shown.

[0019] The outer frame 1 is constructed of a cylindrical member 1₁ with an annular member 1₂ mounted on one end face thereof and an annular member 1₃ mounted on the other end face thereof.

[0020] The annular members 1₁, 1₂ have circular aperture sections 1₂a, 1₃a, respectively, formed substantially at the center thereof. In the etalon device, light passes through the aperture sections 1₂a, 1₃a.

[0021] The pair of optical substrates 2 are constructed of a fixed substrate 2₁ and a movable substrate 2₂ arranged in such a manner that their mutually facing surfaces are parallel to each other with a spacing between. Of these substrates, the fixed substrate 2₁ is a disk-shaped optical member that is fixed to the annular member 1₂ of the outer frame 1 in such a manner as to traverse, inside the outer frame 1, an axis of light passing through the aperture sections 1₂a and 1₃a. On the other hand, the movable substrate 2₂ is a disk-shaped optical member that is held by the piezoelectric elements in such a manner as to traverse light passing through the aperture sections 1₂a, 1₃a.

[0022] The pair of optical substrates 2 thus configured are made changeable in intersurface distance between the mutually facing surfaces as moved by the piezoelectric elements in a direction along the axis of light passing through the aperture sections 1₂a and 1₃a, or a direction along a line that links respective gravity centers of the mutually facing surfaces of the pair of optical substrates.

[0023] A first capacitive sensor 3₁, a second capacitive sensor 3₂, a third capacitive sensor 3₃, and a fourth capacitive sensor 4₃ are formed of respective pairs of electrodes 3₁₂ and 3₁₂, 3₂₁ and 3₂₂, 3₃₁ and 3₃₂, and 3₄₁ and 3₄₂. Each pair of these pairs of electrodes are arranged to face each other on the mutually facing surfaces of the pair of optical substrates 2 at positions where they do not intercept light passing through the aperture sections 1₂a and 1₃b of the outer frame 1.

[0024] In these capacitive sensors, the principle that capacitance between electrodes is inversely proportional to intersurface distance is used. In this etalon device, values acquired from these capacitive sensors are converted into intersurface distances of the optical substrates 2, to be outputted to the control section not shown.

[0025] A first piezoelectric element 4₁, a second piezoelectric element 4₂, a third piezoelectric element 4₃, and a fourth piezoelectric element 4₄ are fixed to the annular member 1₃ of the outer frame 1 in such a manner as not to intercept light passing through the apertures 1₂a and 1₃a inside the outer frame 1.

[0026] The first piezoelectric element 4₁, the second piezoelectric element 4₂, the third piezoelectric element 4₃, and the fourth piezoelectric element 4₄ are arranged, as viewed from the direction along the line that links the respective gravity centers of the mutually facing surfaces of the pair of optical substrates 2, at positions overlapping with the first capacitive sensor 3₁, the second capacitive sensor 3₂, the third capacitive sensor 3₃, and the fourth capacitive sensor 3₄, respectively.

[0027] The combination of the first capacitive sensor 3₁ and the first piezoelectric element 4₁ and the combination of the third capacitive sensor 3₃ and the third piezoelectric element 4₃ are arranged, as viewed from the direction along the line that links the respective gravity centers of the mutually facing surfaces of the pair of optical substrates 2, at positions that form symmetry with respect to an axis determined by the line linking the respective gravity centers.

[0028] On the other hand, the combination of the second capacitive sensor 3₂ and the second piezoelectric element 4₂ and the combination of the fourth capacitive sensor 3₄ and the fourth piezoelectric element 4₄ are arranged, as viewed from the direction of the line that links the respective gravity centers of the mutually facing surfaces of the pair of optical substrates 2, at positions that form symmetry with respect to the axis determined by the line linking the respective gravity centers.

[0029] The combination of the first capacitive censor 3₁ and the first piezoelectric element 4₁, the combination of the second capacitive sensor 3₂ and the second piezoelectric element 4₂, the combination of the third capacitive sensor 3₃ and the third piezoelectric element 4₃, and the combination of the fourth capacitive sensor 3₄ and the fourth piezoelectric element 4₄ are arranged at regular intervals as viewed from the direction along the line that links the respective gravity centers of the mutually facing surfaces of the pair of optical substrates 2.

[0030] Next, in reference to FIG. 3, an explanation will be made on the behavior and its control of the movable substrate 2₂ in the etalon device of the variable spectroscopic element according to this embodiment.

[0031] As shown in FIG. 3, in the situation where the intersurface distance between the pair of optical substrates is to be set to x₀ by a movement of the movable substrate 2₂ in reference to the fixed substrate 2₁, according to a conventional etalon device, the first piezoelectric element 4₁ would be driven so that the intersurface distance at the position where the first capacitive sensor 3₁ is arranged comes to be the goal value x₀ on the basis of an output value of the first capacitive sensor 3₁, and, in the similar manner, the second piezoelectric element 4₂ would be driven on the basis of an output value of the second capacitive sensor 3₂, the third piezoelectric element 4₃ would be driven on the basis of an output value of the third capacitive sensor 3₃, and the fourth piezoelectric element 4₄ would be driven on the basis of an output value of the fourth capacitive sensor 3₄.

[0032] However, under such a control, even if the first piezoelectric element 4₁ is accurately driven and the intersurface distance between the pair of optical substrates 2 comes to be the goal value x₀ at the position where the first capacitive sensor 3₁ is arranged, the intersurface distance may be changed from the goal value by a disturbance caused as the second or fourth piezoelectric element 4₂ or 4₄, which is arranged adjacent to the first piezoelectric element 4₁, is driven.

[0033] As a measure to obviate this behavior, there is a method in which feedback control such as PID control (Proportional Integral Derivative Control) is adopted. In this case, it takes a long time for the intersurface distance between the optical substrates to come to the goal value x₀.

[0034] As an alternative measure, there is a method in which each piezoelectric element is given, as a command value, a preliminarily calculated-out value of disturbance caused by the remaining piezoelectric elements. However, since the calculation of the command value is very complicate, it also takes a long time for the intersurface distance between the optical substrates 2 to come to the goal value x₀.

[0035] Therefore, in the variable spectroscopic element according to the present invention, computation is carried out upon four output values of the first to fourth capacitive sensors 3₁, 3₂, 3₃, 3₄ being converted into three parameters, to control activity of the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄.

[0036] Next, in reference to FIG.3 to FIG. 5, an explanation will be made in detail on arithmetic operations carried out by the control section of the variable spectroscopic element of this embodiment.

[0037] In the control section of the variable spectroscopic element of this embodiment, as shown in FIG. 4, a combination of feedback control and feed forward control is carried out. In the feedback control, an output value is determined on the basis of a command value and a sensor-output value, while, in the feed forward control, an output value is determined only on the basis of the command value. This is because incorporation of the feed forward control in addition to the feedback control can further reduce a time taken for the intersurface interval between the optical substrates to converge than the case where only the feedback control is adopted.

[0038] First, an explanation will be made in detail on the feedback control carried out at the control section of the variable spectroscopic element of this embodiment.

[0039] In the variable spectroscopic element of this embodiment, as shown in FIG. 3, in the situation where the intersuface distance between the pair of optical substrates 2 is to be set to x₀ by a movement of the movable substrate 2₂ in reference to the fixed substrate 2₁, first, as shown in FIG. 5, the goal value x₀ of a distance between a gravity center G₁ of a facing surface of the fixed substrate 2₁ and a gravity center G₂ of a facing surface of the movable substrate 2₂, a goal value θ₀ of a first angle, and a goal value φ₀ of a second angle, which angles are formed by a plane perpendicular to a line that links these gravity centers with the facing surface of the movable substrate 2₂, are input to the control section via a goal-value input section 5₁.

[0040] Then, a sensor-output converting secton 5₂ aquires intersurface distances x₁, x₂, x₃, x₄ measured by the first to fourth capacitive sensors 3₁, 3₂, 3₃, 3₄ at positions where the respective capacitive sensors are arranged, and converts the intersurface distances x₁, x₂, x₃, x₄ into an instant value x of the distance between the gravity center G₁ and the gravity center G₂, an instant value θ of the first angle, and an instant value φ of the second angle.

[0041] To be specific, the distance x between the respective gravity centers of the mutually facing surfaces of the pair of optical substrates 2 is given by the following equation:

[0042] Regarding the first angle θ and the second angle φ formed by a plane perpendicular to the line that links the gravity centers of the mutually facing surfaces of the pair of optical substrates 2 with the facing surface, which faces the fixed substrate 2₁, of the movable substrate 2₂, they can be expressed in terms of distances r₃₁, r₃₂, r₃₃, r₃₄, as known values, from the gravity center G₂ of the facing surface of the movable substrate 2₂ to respective centers of the electrodes 3₁₂, 3₂₂, 3₃₂, 3₄₂, on the facing surface of the movable substrate 2₂, of the first to fourth capacitive sensors 3₁, 3₂, 3₃, 3₄, as shown below:

[0043] In this embodiment, since the following condition is satisfied:

and the first angle θ and the second angle φ are sufficiently small, the first angle θ and the second angle φ are given by the following equations:

[0044] After that, respective differences between the goal values x₀, θ₀, φ₀ inputted via the goal-value input section 5₁ and values x, θ, φ as a result of conversion at the sensor-output converting section 5₂ are calculated at a difference-value calculating section 5₃.

[0045] After that, PID control is carried out at a comand-value calculating section 5₄, on the basis of the difference values ex, eθ, eφ calculated at the difference-value calculating section 5₃, to yield command values x_c, θ_c, φ_c.

[0046] After that, the command values x_c, θ_c, φ_c generated at the command-value calculating section 5₄ are converted into command values x_c1, x_c2, x_c3, x_c4 for the respective first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄. The command values x_c1, x_c2, x_c3, x_c4 are inputted to a piezoelectric-element driver (not shown in the figure) for driving the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄, so that driving voltages are applied to the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄, respectively, by the piezoelectric-element driver.

[0047] Regarding the command values x_c1, x_c2, x_c3, x_c4 for the respective first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄, they can be expressed in terms of distances r₄₁, r₄₂, r₄₃, r₄₄, as known values, from the gravity center G₂ of the facing surface of the movable substrate 2₂ to respective centers of the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄, on the facing surface of the movable substrate 2₂, as shown below:

[0048] In this embodiment, since the following condition is satisfied:


and the command value θ_c for the first angle and the command value φ_c for the second angle are sufficiently small, the command values for the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄ are given by the following equations:

[0049] After that, the first to fourth piezoelecric elements 4₁, 4₂, 4₃, 4₄ are driven by voltages applied by the piezoelectric-element driver on the basis of the corresponding command values x_c1, x_c2, x_c3, x_c4, to move the movalbe substrate 2₂ and change the intersurface distance x between the pair of optical substrates 2.

[0050] FIGs. 6 are graphs that show a result of experimentation regarding response characteristics of etalon devices obtained when feedback control was carried out in variable spectroscopic elements, where the ordinate represents intersurface distance (nm) between pair of optical substrates, and abscissa represents time (sec). FIG. 6A is a result by a conventional variable spectroscopic element, and FIG. 6B shows a result by the variable spectroscopic element of this embodiment. In this experimentation, as shown by the broken lines, signals are inputted while switching the command value at every 0.02 seconds.

[0051] As is known from FIGs. 6A-6B, in the variable spectroscopic element according to this embidment, a time taken for the intersurface distance between the pair of optical substrates to converge is much shorter than that in the case of the conventional variable spectroscopic element. Therefore, even in a case where the optical property should be changed continuously and at high speed, the variable spectroscopic element of the present invention can achieve an accurage change of the optical property.

[0052] Next, an explanation will be made in detail on the feed forward control carried out at the control section of the variable spectroscopic element of this embodiemnt.

[0053] In the etalon device of the variable spectroscopic element of this embodiment, the movable substrate 2₂ supported by the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄ makes a three-dimensional motion with the degree of freedom of 3, composed of a translational motion along the direction of the line that links the gravity centers of the optical substrates, a rotational motion with respect to the first angle θ, and a rotationonal motion with respect to the second angle φ.

[0054] For each of these motions, the etalon device has a unique characteristic given from its mass and material. Therefore, first, the characteristic of the etalon device regarding each motion will be explained.

[0055] To determine the transfer function G_x, which is a characteristic with respect to the translational motion of the etalon device, we first schematize the etalon device by denoting the mass of the displaceable portion of the variable spectroscopic element as m and regarding the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄ as springs with spring constants k₁, k₂, k₃, k₄ and dampers with damping constants c_x1, c_x2, c_x3, c_x4 coupled together, respectively, for the purpose of fascilitating study of control.

[0056] The mass m is a value determined by the mass of the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄ and the mass of the movable substrate 2₂, which are displaceable in reference to the outer frame 1 of the etalon device. The spring constants k₁, k₂, k₃, k₄ are constants that can be obtained by a material analysis simulation based on the structure and material of the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄ and the movable substrate 2₂. The damping constants c_x1, c_x2, c_x3, c_x4 are constants that can be determined from the mass m, the spring constants k₁, k₂, k₃, k₄, and a vibration status of the movable substrate 2₂ and the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄ when signals are inputted.

[0057] On the basis of this model, an equation of motion is given as follows:


where x" is an acceleration regarding the translational motion when the gravity center of the mass m is at a distance x from the fixed end, F_x is a magnitude of the force regarding the translational motion applied to the mass m when the gravity center of the mass m is at the distance x from the fixed end, and f₁, f₂, f₃, f₄ are magnitudes of forces generated by the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄, respectively.

[0058] Here, when the goal value of the intersurface distance between the pair of optical substrates 2 is denoted by u, the forces f₁, f₂, f₃, f₄ applied to the mass m are given by:








where u₁, u₂, u₃, u₄ are distances, in a direction along the translational motion, from the fixed end to the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄, respectively, when the intersurface distance between the pair of optical substrates 2 reaches the goal value u; x₁, x₂, x₃, x₄ are distances, in the direction along the translational motion, from the fixed end to instant positions of the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄, respectively, arranged on the movable substrate 2₂; and x₁', x₂', x₃', x₄' are velocities regarding the translational motion at the positions of the piezoelectric elements 4₁, 4₂, 4₃, 4₄ arranged on the movable substrate 2₂.

[0059] Since the etalon device of the variable spectroscopic element of this embodiment satisfies the following conditions:




therefore, the following equations are satisfied:

[0060] Furthermore, since x equals to the distance from the fixed end to the gravity center G₂ of the movable substrate 2₂, the following equation is satisfied:


and since x' equals to the velocity when the gravity center G₂ of the mobable substrate 2₂ is at the distance x from the fixed end, the following equation is satisfied:

[0061] These calcurations above introduce the following equation:

[0062] Here, Laplace transform converts this equation, where u = (u₁ + u₂ + u₃ + u₄)/4 is given, into:


and accordingly the transfer function regarding the translational motion comes to be:

[0063] In the similar manner, the transfer function G_θ, which is a characteristic regarding the rotational motion with respect to the first angle θ and the transfer function G_φ, which is a characteristic regarding the rotational motion with respect to the second angle φ, of the etalon device, are given as follows:




where J is a moment of inertia, which is determined by the mass of the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄ and the mass of the movable substrate 2₂, which are displaceable in reference to the outer frame 1 of the etalon device; the damping constants c_θ, c_φ are constants that can be determined from the moment of inertia J, the spring constants k₁, k₂, k₃, k₄, and the vibration status of the movable substrate 2₂ when signals are inputted; A_θ, A_φ are parameters that represent the sensitivity of input/output characteristic of the etalon device; B_θ, B_φ are parameters that represent the damping characteristic; and C_θ, C_φ are parameters that relate to the vibration frequency.

[0064] Therefore, if feed forward control is not implemented, the output value y in response to the input value u, that is, the behaviour of the etalon device is expressed as a result of multiplication by the transfer functions G_x, G_θ, G_φ (hereafter generally referred to as "transfer function G"), as shown below:


which means that the command value disagrees with the actual action.

[0065] Therefore, in the variable spectroscopic element of this embodiment, a feed forward control is carried out as expressed below so that the behavior of the etalon device agrees with an input value:

[0066] Here, the multiplier 1/G for the multiplicand u is expressed as follows:

[0067] Therefore, when the input value is u and feed forward control is carried out, the output value y is expressed by the following function:

[0068] It is noted that: "A = 4k/m" (where k is the spring constant of the actuators and m is the mass of the displaceable portion of the etalon device) is a parameter to express the sensitivity of input/output characteristic of the etalon device; "B = 4 c/m" (where c is a constant acquired from damping of vabration of the movable substrate when signals are inputted upon the spring constant being k and the mass being m) is a parameter to express damping characteristic, and a large value of this parameter means a favorable damping characteristic, in which vibration is stayed; and "C = 4k/m" is a parameter relating to the vabration frequency, and a large value of this parameter means that the vabration interval is short, to cause a high speed rise to the peak.

[0069] In the variable spectroscopic element of this embodiment, for each of the translational motion in the direction along the line that links the gravity centers of the pair of optical substrates, the rotational motion with respect to the first angle θ, and the rotational motion with respect to the second angle φ, the feedback control and the feed forward control are carried out individually, and output values from a FB controller and a FF controller are added up as shown in FIG. 4, to be inputted, as values of x, θ, φ, into the command-value converting section 5₅ shown in FIG. 5. The command-value converting section 5₅ converts the command values x_c, θ_c, φ_c into command values x_c1, x_c2, x_c3, x_c4 for the respective first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄.

[0070] FIGs. 7 are graphs that show a result of experimentation regarding response characteristics of the etalon device of a variable spectroscopic element, where the ordinate represents intersurface distance (nm) between a pair of optical substrates, and abscissa represents time (sec). FIG. 7A is a result of the case where only feedback control is implemented, and FIG. 7B is a result of the case where feedback control and feed forward control are implemented. The broken lines represent input signals.

[0071] As is known from FIGs. 7, in the case where control is implemented upon feedback control and feed forward control being combined together, the overshoot can be stayed very small, in comparison with the case where control is implemented only by the feedback control. Furthermore, a time taken for the intersurface distance between the pair of optical substrates to converge, to be specific, a time taken for the intersurface distance to come to be stable around ±3nm of the goal value is very short. In addition, the response speed to the input signal is fast. Therefore, the variable spectroscopic element of the present invention can change its optical property accurately even in the case where the optical property should be changed continuously and at high speed.

[0072] In this embodiment, the feedback control and the feed forward control are carried out for each of the intersurface distance x between the pair of optical substrates 2, the first angle θ, and the second angle φ. However, all of these are not necessarily needed. The feedback control and the feed forward control may be carried out for only one of these parameters.

[0073] Next, in reference to FIG. 8 to FIG. 11, an explanation will be made on modification examples of the etalon device of the variable spectroscopic element of this embodiment.

[0074] Not like the etalon device of the variable spectroscopic element of the embodiment described above, in an etalon device shown in FIG. 8, the respective combinations of the first capacitive sensor 3₁ and the first piezoelectric element 4₁, the second capacitive sensor 3₂ and the second piezoelectric element 4₂, the third capacitive sensor 3₃ and the third piezoelectric element 4₃, and the fourth capacitive sensor 3₄ and the fourth piezoelectric element 4₄ are not arranged at regular intervals as viewed from the direction along the line that links the respective gravity centers of the mutually facing surfaces of the pair of optical substrates 2.

[0075] However, in such an arrangement also, if the combination of the first capacitive sensor 3₁ and the first piezoelectric element 4₁ and the combination of the third capacitive sensor 3₃ and the third piezoelectric element 4₃ are arranged, as viewed from the direction along the line that links the respective gravity centers of the mutually facing surfaces of the pair of optical substrates 2, at positions that form symmetry with respect to an axis determined by the line that links the respective gravity centers and so are the combination of the second capacitive sensor 3₂ and the second piezoelectric element 4₂ and the combination of the fourth capacitive sensor 3₄ and the fourth piezoelectric element 4₄, control can be carried out at the control section by arithmetic operations similar to those in the etalon device of the variable spectroscopic element of the embodiment described above.

[0076] Not like the etalon device of the variable spectroscopic element of the embodiment described above, in each of etalon devices shown in FIG. 9 and FIG. 10, the first capacitive sensor 3₁, the second capacitive sensor 3₂, the third capacitive sensor 3₃, and the fourth capacitive sensor 3₄ are arranged, as viewed from the direction along the line that links the respective gravity centers of the mutually facing surfaces of the pair of optical substrates 2, at positions not overlapping with the first piezoelectric element 4₁, the second piezoelectric element 4₂, the third piezoelectric element 4₃, and the fourth piezoelectric element 4₄, respectively.

[0077] However, in such an arrangement also, if the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄ are arranged, respectively, as viewed from the direction along the line that links the respective gravity centers of the mutually facing surfaces of the pair of optical substrates 2, on lines that extend from the gravity centers toward respective centers of the first to fourth capacitive sensors 3₁, 3₂, 3₃, 3₄, control can be carried out at the control section by arithmetic operations similar to those in the etalon device of the variable spectroscopic element of the embodiment described above.

[0078] Not like the etalon device of the variable spectroscopic element of the embodiment described above, an etalon device shown in FIG. 11 is not provided with an outer frame 1, and the first piezoelectric element 4₁, the second piezoelectric element 4₂, the third piezoelectric element 4₃, and the fourth piezoelectric element 4₄ are fixed on the facing surface of the fixed substrate 2₁ so as not to intercept light passing through the etalon device.

[0079] However, in such an arrangement also, control can be carried out at the control section by arithmetic operations similar to those in the etalon device of the variable spectroscopic element of the embodiment described above.

Embodiment 2

[0080] In reference to FIG. 12 and FIG. 13, an explanation will be made on the second embodiment of the variable spectroscopic element provided with an etalon device, which is a variable spectroscopic element according to the present invention. Since members constituting the etalon device of the variable spectroscopic element of this embodiment are same as those constituting the etalon device of Embodiment 1, same reference symbols are tagged to same members and their detailed explanations are omitted. Since the configuration of the control section and arithmetic operations performed there are substantially the same as the arithmetic operations performed in the control section of the variable spectroscopic element of Embodiment 1, a detailed explanation on these are omitted.

[0081] FIG. 12 is a sectional view that shows the etalon device of the variable spectroscopic element according to this embodiment. FIG. 13 is a plan view of the etalon device of FIG. 12.

[0082] In reference to FIG. 12 and FIG. 13, an explanation will be made on the configuration of the etalon device of this variable spectroscopic element.

[0083] In the etalon device of the variable spectroscopic element of this embodiment, the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄ and the first to fourth capacitive sensors 3₁, 3₂, 3₃, 3₄ are alternately arranged at regular intervals around a circle.

[0084] Next, an explanation will be made on the action of the movable substrate 2₂ in the etalon device of the variable spectroscopic element according to this embodiment.

[0085] In the variable spectroscopic element of Embodiment 1, the distance between the respective gravity centers of the mutually facing surfaces of the pair of optical substrates 2 is calculated out from output values of the first to fourth capacitive sensors 3₁, 3₂, 3₃, 3₄; the first angle θ is calculated out from output values of the first and third capacitive sensors 3₁, 3₃; the second angle φ is calculated out from output values of the second and fourth capacitive sensors 3₂, 3₄; activity of the first and third piezoelectric elements 4₁, 4₃ is controlled on the basis of the distance x between the gravity centers and the first angle θ; and activity of the second and fourth piezoelectric elements 4₂, 4₄ is controlled on the basis of the distance x between the gravity centers and the second angle φ.

[0086] On the other hand, in the variable spectroscopic element of this embodiment, the distance x between the gravity centers, the first angle θ and the second angle φ are calculated out from all output values of the first to fourth capacitive sensors 3₁, 3₂, 3₃, 3₄, and activity of the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄ is controlled on the basis of the distance x between the gravity centers, the first angle θ and the second angle φ.

[0087] As described above, in this embodiment, the capacitive sensors 3 and their respective mating piezoelectric elements 4 are not arranged at positions overlapping each other as viewed from the direction along the line that links the gravity centers of the facing surfaces of the pair of optical substrates 2. However, since the intersurface distance between the pair of optical substrates detected by the capacitive sensors 3 is converted into intersurface distances x₁, x₂, x₃, x₄ at the positions of the first to fourth piezoelectric elements 4₁, 4₂, 4₃, 4₄, the same control as Embodiment 1 can be achieved.

[0088] Therefore, in Embodiment 2 also, similar to the variable spectroscopic element of Embodiment 1, a time taken for the intersurface distance between the pair of optical substrates to converge is much shorter than that in the case of the conventional variable spectroscopic element. Therefore, even in a case where the optical property should be changed continuously and at high speed, the variable spectroscopic element of the present invention can achieve an accurage change of the optical property.

INDUSTRIAL APPLICABILITY

[0089] Since the present invention can provide a variable spectroscopic element that can change its optical property accurately and at high speed, it can be preferably applied to a spectral imaging endoscope apparatus and the like, and thus is very practical.

EXPLANATION OF THE REFERENCE SYMBOLS

[0090] 

1

outer frame

1₁

cylindrical member

1₂, 1₃

annular member

1₂a, 1₃a

aperture section

2

pair of optical substrates

2₁

fixed substrate

2₂

movable substrate

3₁

first capacitive sensor

3₂

second capacitive sensor

3₃

third capacitive sensors

3₄

fourth capacitive sensor

3₁₁, 3₁₂, 3₂₁, 3₂₂, 3₃₁, 3₃₂, 3₄₁, 3₄₂

electrodes

4₁

first piezoelectric element

4₂

second piezoelectric element

4₃

third piezoelectric element

4₄

fourth piezoelectric element

5₁

goal-value input section

5₂

sensor-output converting section

5₃

difference-value calculating section

5₄

command-value calculating section

5₅

command-value converting section

Claims

1. A variable spectroscopic element comprising:

a pair of optical substrates arranged to face each other with a space between;

first to fourth capacitive sensors each of which has a pair of electrodes arranged onmutually facing surfaces of the pair of optical substrates for detecting an intersurface distance between the mutually facing surfaces of the pair of optical substrates at each position where the pair of electrodes are arranged; and

first to fourth actuators each of which moves at least one of the pair of optical substrates relative to the other optical substrate for changing the intersurface distance between the mutually facing surfaces of the pair of optical substrates;

characterized in that the first capacitive sensor and the third capacitive sensor are arranged at positions that form symmetry with respect to an axis determined by a line that links respective gravity centers of the mutually facing surfaces of the pair of optical substrates;

in that the second capacitive sensor and the fourth capacitive sensor are arranged at positions that form symmetry with respect to the axis determined by the line that links the respective gravity centers of the mutually facing surfaces of the pair of optical substrates;

in that the first to fourth actuators are arranged, respectively, on lines that extend from the gravity centers of the mutually facing surfaces of the pair of optical substrates toward respective centers of the first to fourth capacitive sensors; and

in that the variable spectroscopic element is provided with a control section that calculates, from signals by the first to fourth capacitive sensors, a distance between the respective gravity centers of the mutually facing surfaces of the pair of optical substrates, calculates, from a signal by the first capacitive sensor and a signal by the third capacitive sensor, a first angle formed by a plane perpendicular to the line that links the respective gravity centers and one of the mutually facing surfaces of moving one of the optical substrates, calculates, from a signal by the second capacitive sensor and a signal by the fourth capacitive sensor, a second angle formed by a plane perpendicular to the line that links the respective gravity centers and the one of the mutually facing surface of the moving one of the optical substrates, drives the first actuator and the third actuator on a basis of the distance between the gravity centers and the first angle, drives the second actuator and the third actuator on a basis of the distance between the gravity centers and the second angle, carries out a feedback control with respect to the distance between the gravity centers, the first angle and the second angle, and carries out a feed forward control with respect to at least one of the distance between the gravity centers, the first angle and the second angle.

2. The variable spectroscopic element according to claim 1,
characterized in that the feedback control is PID control, and in that the feed forward control is such that a sum of: a derivative by second-order differentiation of an input value; a quotient, as divided by a mass of a displaceable portion of the variable spectroscopic element, of a product, as multiplied by a damping constant of the first to fourth actuators, of a derivative by differentiation of the input value; and a quotient, as divided by the mass of the displaceable portion of the variable spectroscopic element, of a product, as multiplied by a spring constant of the first to fourth actuators, of the input value; is divided by a quotient, as divided by the mass of the displaceable portion of the variable spectroscopic element, of the spring constant of the first to fourth actuators, to yield a resulted value as an output value.

3. The variable spectroscopic element according to claim 2,
characterized in that the feed forward control is such that the following output value is outputted in response to the input value u:


where A = 4k/m, k is the spring constant of the first to fourth actuators, m is the mass of the displaceable portion of the variable spectroscopic element, B = 4c/m, c is a constant acquired from damping of vibration of the displaceable portion of the variable spectroscopic element when signals are inputted with the spring constant of the actuators being k and the mass of the displaceable portion of the variable spectroscopic element being m, and C = 4k/m.

4. A variable spectroscopic element comprising:

a pair of optical substrates arranged to face each other with a space between;

first to fourth capacitive sensors each of which has a pair of electrodes arranged onmutually facing surfaces of the pair of optical substrates for detecting an intersurface distance between the mutually facing surfaces of the pair of optical substrates at each position where the pair of electrodes are arranged; and

first to fourth actuators each of which moves at least one of the pair of optical substrates relative to the other optical substrate for changing the intersurface distance between the mutually facing surfaces of the pair of optical substrates;

characterized in that the first capacitive sensor and the third capacitive sensor are arranged at positions that form symmetry with respect to an axis determined by a line that links respective gravity centers of the mutually facing surfaces of the pair of optical substrates;

in that the second capacitive sensor and the fourth capacitive sensor are arranged at positions that form symmetry with respect to the axis determined by the line that links the respective gravity centers of the mutually facing surfaces of the pair of optical substrates;

in that the first to fourth capacitive sensors and the first to fourth actuators are alternately arranged at equiangular intervals with respect to the axis determined by the line that links the respective gravity centers of the mutually facing surfaces of the pair of optical substrates, as viewed from a direction along the axis; and

in that the variable spectroscopic element is provided with a control section that calculates, from signals by the first to fourth capacitive sensors, a distance between the respective gravity centers of the mutually facing surfaces of the pair of optical substrates, calculates, using values of intersurface distances between the mutually facing surfaces of the pair of optical substrates at positions where the first and third actuators are arranged, which are acquired from signals by the first to fourth capacitive sensors, a first angle formed by a plane perpendicular to the line that links the respective gravity centers and one of the mutually facing surfaces of moving one of the optical substrates, calculates, using values of interface distances between the mutually facing surfaces of the pair of optical substrates at positions where the second and fourth actuators are arranged, which are acquired from signals by the first to fourth capacitive sensors, a second angle formed by a plane perpendicular to the line that links the respective gravity centers and the one of the mutually facing surface of the moving one of the optical substrates, drives the first to fourth actuators on a basis of the distance between the gravity centers, the first angle and the second angle, carries out a feedback control with respect to the distance between the gravity centers, the first angle and the second angle, and carries out a feed forward control with respect to at least one of the distance between the gravity centers, the first angle and the second angle.

Drawing